537 results about "Industrial robot" patented technology

The invention discloses an in-service precision intelligent diagnosis and calibration industrial robot system and a diagnosis and calibration method. The system comprises a parameter acquisition module, a fault diagnosis engine module, a collaborative calibration algorithm module, a laser tracking calibration module, an execution calibration module and a result feedback module. According to the method, joint, tail end, load and environment parameters of the robot are collected through the parameter collection module and transmitted to the fault diagnosis engine module, and features are extracted and faults are classified through a specific technology; the collaborative calibration algorithm module calculates a calibration compensation amount in combination with the fault parameters, and the laser tracking calibration module tracks and measures the motion trail of the robot in real time; the execution calibration module adjusts controller parameters to complete calibration, and the result feedback module compares the parameters and adjusts the acquisition frequency and type. According to the system and the method, in-service real-time diagnosis and calibration of the robot are realized, the fault diagnosis accuracy and the calibration precision stability are improved, the production interruption is reduced, the flexible production requirement is met, and the operation precision and the production efficiency of the robot are guaranteed.

The invention discloses a dynamic visual guidance method and system for cooperative assembly of multiple mechanical arms, and belongs to the technical field of industrial robot visual guidance, and the method comprises the steps: synchronously collecting an image sequence through a binocular visual system, synchronously recording the pose sequence of each mechanical arm through a robot controller, and obtaining an observation data set; obtaining a two-dimensional trajectory flow of vehicle body assembly area feature points and instrument body feature points through an optical flow tracking algorithm, and obtaining a hand-eye matrix correction through a nonlinear optimization algorithm; obtaining an updated hand-eye matrix and a local pixel compensation field through a spatial interpolation algorithm based on the re-projection error of each feature point; according to the method, self-adaptive compensation of flexible deformation of a vehicle body and dynamic reflection of an instrument is realized by adopting unsupervised clustering and spatial interpolation according to a re-projection error, and the precision of cooperative assembly of multiple mechanical arms and the self-adaptive capability of a system in a complex industrial environment are improved.

A method of programming an industrial robot, comprising: recording movements of a robot manipulator during a demonstration-based programming session, to obtain a robot trajectory (301); using a natural-language model (171), parsing speech data describing the programming session into at least one robot parameter (305) value and annotating the robot trajectory with the robot parameter value; and, on the basis of the annotated robot trajectory (306), generating a robot program (307). The method further comprises: capturing a video (302) of the programming session; using a vision-enabled language model, VLM (172), generating descriptions (303) of movements of the robot manipulator which are visible in the video; and generating said speech data (304) on the basis of the descriptions of the robot manipulator movements.

The invention relates to the technical field of industrial robot control, and discloses a single-connecting-rod mechanical arm system fault-tolerant asynchronous control method based on double-variable decision, which comprises the following steps: establishing a semi-Markov jump system dynamic model for describing the operating characteristics of a single-connecting-rod mechanical arm; based on the dynamic model, designing a fault-tolerant asynchronous controller structure based on a double-variable decision and an experience-machine cooperative operation strategy; establishing sufficient conditions which enable the closed-loop system to be randomly stable and meet H infinity performance indexes; and the numerical value of the gain of the machine controller is obtained by solving the linear matrix inequality set, and a final control law is generated to conduct fault-tolerant asynchronous control on the single-connecting-rod mechanical arm. According to the fault-tolerant asynchronous control method for the mechanical arm, fault-tolerant asynchronous control of the mechanical arm is achieved through a double-variable decision and an experience-machine cooperation strategy in combination with modal transfer rate boundary processing, and the random stability and the H-infinity performance of the system are guaranteed under the modal mismatching and fault working conditions.

The invention discloses a dynamic assembly line object grabbing method and system based on multi-modal information fusion, and belongs to the technical field of industrial robot grabbing control, and the method comprises the steps: synchronously collecting the visual information of a dynamic assembly line, the joint motion information of a robot and the touch information of a dexterous finger end, and obtaining a standardized multi-source information data set; constructing a coarse grabbing action generation sub-model and a fine grabbing action generation sub-model; the coarse grabbing action generation sub-model obtains a coarse grabbing action sequence through a de-noising diffusion implicit model; according to the coarse grabbing action sequence and the touch information, a fine grabbing action sequence is obtained through a fine grabbing action generation sub-model; adopting a self-supervised learning mode to train the two models in stages; and based on the trained model, a final fine grabbing action sequence is generated, and the robot is driven to execute dynamic grabbing. The core problems that in the prior art, the approaching precision is insufficient, the grabbing stability is poor, the model adaptability is weak, and a control closed loop is lacked are effectively solved.

The invention relates to the technical field of industrial robot precision assembly, in particular to an intelligent power position cooperative control and precision guarantee method and system which are suitable for micron-level precision scenes such as semiconductor packaging, medical instrument precision assembly and aerospace component butt joint. Real-time sensing of the assembly force-position state, self-adaptive adjustment of parameters, dynamic optimization of a path and online verification of quality can be realized, and the problems of force-position coupling interference, difficulty in guaranteeing precision and easiness in damaging parts in traditional assembly are solved.

The invention relates to the technical field of industrial robot data acquisition and transmission, in particular to a welding robot behavior recording system integrating edge acquisition and cloud management, which comprises the following modules: an edge end data acquisition module for acquiring the state of a welding robot and sensor data in real time, and performing time alignment and validity processing, generating edge end data; the data preprocessing module is used for optimizing the edge end data and unifying the data format to form preprocessed data; and the local storage management module is used for carrying out hierarchical storage and index management on the preprocessed data according to the data access frequency and importance. According to the invention, through a breakpoint continuous transmission mechanism of cooperation of the edge end and the cloud end, fragmentation and recording of the transmission progress in the data transmission process are realized, continuous transmission is only performed on the uncompleted fragmentation after the network is interrupted, meanwhile, sorting and integrity verification are performed on the received fragmentation at the cloud end, and reliable uploading of large-capacity data in a complex network environment is realized.

The invention provides an internal detection sensor and a tire inner cavity appearance detection system, and belongs to the field of industrial automatic visual detection. The internal inspection sensor comprises a laser emitting unit and an image collecting unit, and can project an annular laser beam with the covering angle not smaller than 340 degrees and collect an inner wall image. The system comprises the sensor, an industrial robot and a tire expander. The industrial robot sends the sensor to a tire internal channel opened by a tire expander; when the tire expander drives the tire to rotate, the static sensor can perform 360-degree panoramic image acquisition on the rotating inner wall.

The invention provides a service life prediction method and device for an industrial robot RV speed reducer, and relates to the technical field of speed reducer service life prediction.The method comprises the steps that an acceleration load spectrum is determined according to torque and time history data, and multi-stage loads in the acceleration load spectrum are woven into a program block spectrum according to a preset sequence; all levels of loads in the accelerated load spectrum serve as independent working conditions to be applied to the multi-body dynamic model for dynamic simulation, a load and time history curve set of the key weak component is obtained and input to the cumulative damage model for life calculation, the simulated predicted life is obtained, and a damage cloud picture is generated; taking the program block spectrum as a test loading instruction to carry out an RV speed reducer accelerated life test to obtain a test observation life and a physical failure morphology; if the two are in the corresponding preset deviation range, taking the simulated predicted life as the predicted life of the current RV speed reducer; the problems of long test period, high cost and low reliability of a simulation model are solved.

A work order management system automates the process of scheduling maintenance tasks and generating corresponding work orders via analysis of monitored data generated by the industrial assets. The work order management system can monitor status and operational data from industrial devices on the plant floor, as well as mobile industrial robots that traverse the plant floor, and initiate creation of work orders based on a determination that the monitored industrial data indicates a current or predicted performance risk requiring investigation or maintenance. The system can leverage generative artificial intelligence (AI) or other types of AI in connection with determining when and how to schedule a maintenance task intended to mitigate asset risk.

The invention provides an embedded part robot blind area arcing point positioning method and system based on artificial intelligence, and relates to the technical field of industrial robot automatic welding. Comprising the steps that S1, a local coordinate system of an assembly part CAD model is sequentially mapped to a robot reference coordinate system through a reference hole and a calibration ball, voxelization is carried out, the shielding probability is calculated, and a blind area index set is generated; s2, generating an acquisition window according to the blind area index set, performing unified trigger sampling, and constructing a multi-modal observation set; s3, inputting the multi-modal observation set into a scene gating network, performing feature suppression on blind area voxels, performing feature extraction, and reconstructing candidate point clouds; s4, performing minimum feature matching to generate a cluster-node pairing table; s5, inputting the cluster center coordinate into a double-chain reasoning framework, synthesizing two types of scores, and outputting an optimal arcing cluster coordinate; and S6, generating a spiral trajectory, and realizing real-time closed-loop correction of the pose deviation through a joint regression device.

The invention discloses a digital twin mechanical arm dynamic obstacle avoidance method based on multi-view fusion and intelligent decision, and belongs to the technical field of industrial robot control, machine vision and artificial intelligence. Comprising the steps that environment data are collected in real time, a mechanical arm digital twinborn model is constructed, a target detection and tracking algorithm is used for recognizing and tracking a dynamic obstacle, a virtual model and a motion track of the dynamic obstacle are reconstructed in a three-dimensional mode through multi-view information fusion, and construction of a digital twinborn scene is completed. Performing global path planning by adopting an improved A * algorithm which introduces a direction change penalty factor and a path smoothing optimization strategy; and performing local real-time planning by using a local planner integrated with a pre-trained DQN decision optimization module, issuing and executing the optimal local trajectory, and performing real-time feedback to form a closed loop. According to the method, the problems that dynamic obstacle avoidance is not flexible and is lack of predictive ability are solved, and the autonomy, safety and efficiency of the mechanical arm in a complex dynamic environment are remarkably improved.

The invention discloses a region segmentation and spraying track planning method and system of a mobile composite spraying robot and a storage medium, and belongs to the technical field of industrial robots. The method comprises the steps that a workpiece point cloud is obtained through a three-dimensional camera and preprocessed; extracting a central region based on statistical characteristics, and segmenting the point cloud into plane and curved surface sub-regions by adopting an improved RANSAC algorithm; generating a grating path for the plane area, and generating a path for the curved surface area through Poisson reconstruction, adaptive slicing and two-dimensional projection planning; uniformly controlling the attitude of the spray gun and the normal included angle, and sectionally setting the slice spacing according to the curvature radius; and finally, multi-station spraying is completed through cooperation of the AGV moving platform. According to the full-automatic spraying device, the dependence of traditional spraying on a CAD model is overcome, the technical problems that large workpieces are difficult to cover and the uniformity of curved surface spraying is poor are solved, and high-quality and full-automatic spraying of large complex components is achieved.

The invention discloses a full-plane six-dimensional force sensor based on a thin film sputtering technology. The full-plane six-dimensional force sensor is used for synchronously measuring three-dimensional orthogonal force and torque. The sensor comprises a force transmission table, an elastic body, a base, a strain gauge and the like, wherein the elastic body adopts a composite structure of an inner-layer cross beam and an outer-layer honeycomb-like parallel beam. The innovation lies in that all strain sensitive areas of the elastomer are flat planes with upper and lower surfaces to form a full-plane design, so that the requirement of a thin film sputtering process on the flatness of a substrate is met. 24 strain gauges are sputtered on an upper plane and a lower plane to form 6 groups of Wheatstone bridges, so that six-dimensional force signal detection is realized. According to the full-plane structure, the problem that a strain gauge in a traditional sensor needs to be pasted on a narrow side face or edge is avoided, full-automatic surface mounting can be achieved, the long-term stability, temperature adaptability and measurement consistency of the sensor are remarkably improved, and the sensor is suitable for high-precision force measurement in the fields of industrial robots, aerospace and the like.

The invention discloses a method for optimizing operation time and impact of a Niryo One robot based on a multi-strategy improved dung beetle optimization algorithm, and belongs to the technical field of multi-degree-of-freedom industrial robot control. Four interpolation points are set for the motion trail of the Niryo One robot for optimization; on the basis of three sections of motion tracks of Niryo One, six joint motion tracks of each section are described through cubic polynomial interpolation, quintic polynomial interpolation and cubic polynomial interpolation methods, and a 3-5-3 mixed polynomial method is constrained; after six joint coefficients of different polynomials of Niryo One are solved, the influence of multiple constraints such as optimal time and impact and the maximum speed and acceleration of a motor of each joint is synthesized, and a fitness function which finally needs to be optimized is defined; and optimizing the trajectory of the Nryo One by using a multi-strategy improved dung beetle optimization algorithm, and returning the optimal operation time and fitness value of each section of trajectory after optimization. Compared with an original dung beetle optimization algorithm and other algorithms, the method has the advantages that the iteration speed is higher, a better solution can be found, and the working efficiency of the Niryo One robot in use is improved.

The invention discloses a machine tool workpiece correcting and conveying device integrated with an industrial robot, and belongs to the field of machine tool machining auxiliary equipment. In order to solve the problems that an existing conveying device cannot accurately correct the posture of a workpiece, the clamping efficiency of a robot is low, and collision is prone to occurring due to the fact that the distance is uneven, the device comprises a machining table, a conveying structure, a limiting frame, a material passing structure, a moving structure, a clamping limiting structure and a containing frame. The limiting frame is provided with an arc-shaped inlet and a circular material passing cavity, and workpiece postures are automatically corrected; the material passing structure accurately controls the distance between the workpieces through a rotating plate and a material receiving groove which rotate intermittently; the clamping and limiting structure is matched with the moving structure, workpiece clamping, transferring and positioning are achieved, and the detachable discharging die of the containing frame is suitable for workpieces of different specifications. According to the device, through cooperation of multiple structures, the workpiece axis is aligned with the robot clamping axis, clamping collision is avoided, the grabbing time of each workpiece is saved by 2-5 seconds, the energy consumption and clamping difficulty of the robot are reduced, the automation and high-efficiency level of a production line is improved, and practicability is high.

The invention discloses a vibration suppression and stability control method in the movement process of an industrial robot, and relates to the field. The method comprises the following steps of S1, constructing a robot motion digital twinborn body, S2, performing offline simulation optimization and parameter library construction, S3, performing online real-time data acquisition and transmission, S4, performing digital twinborn body comparison and parameter calling, and S5, performing closed-loop control execution and parameter iterative updating. According to the method, the digital twinborn body comprising the robot body model, the load model and the environment model is constructed, accurate optimization of control parameters under different working conditions is achieved by combining off-line simulation optimization and parameter library construction, the online real-time data acquisition and transmission system performs noise reduction processing on heterogeneous data through a multi-source information fusion algorithm, and the real-time performance of the system is improved. According to the method, the accuracy of data is ensured, a digital twin comparison and parameter calling mechanism can quickly call or generate an adaptive optimal control parameter when the vibration of the physical robot exceeds a threshold value, and the vibration is effectively inhibited.

The invention relates to the technical field of robot control, and discloses a control system for an industrial robot, and the system comprises a front-end interaction device which is used for providing a human-computer interaction interface; the programmable controller is respectively connected with the plurality of industrial robots and is used for motion control and algorithm processing of the plurality of industrial robots; the programmable controller comprises a back-end service unit and a programmable control program unit; wherein the rear-end service unit is configured to communicate with the front-end interaction equipment and process an instruction received by the front-end interaction equipment so as to control the programmable control program unit to execute a control program; and the programmable control program unit communicates with the back-end service unit and is configured to execute a control program so as to control each industrial robot. The system not only effectively reduces the hardware cost, but also ensures the operation reliability of the system. The invention further discloses a control method for the industrial robot and the programmable controller.

The invention relates to the crossing field of mechanical engineering and automatic control, discloses a rapid and accurate prediction positioning method and system for a linear motion module of an industrial robot, and aims to solve the problem of dynamic positioning deviation caused by factors such as elastic deformation, a mechanical gap and a heat effect under high-speed motion. The method comprises the following steps: collecting vibration, strain, temperature and motor load data in real time through a multi-mode sensor array; constructing a space-time dynamic state encoder based on module physical topology, and fusing time sequence convolution and a graph neural network to generate system state representation; predicting a future positioning error of the end effector by using an attention mechanism in combination with a future motion instruction; and a feedforward compensation signal is generated through an inverse dynamic model, and is superposed with an original instruction to form a composite driving instruction. According to the method, control normal form transition from passive feedback to active prediction is realized, and the positioning precision and the movement efficiency under the high-speed working condition are remarkably improved.

The invention relates to a robot gear disc loading method based on 3D vision, and belongs to the technical field of industrial robot automation. The method comprises the steps that connection between a 3D camera and a robot is established, hand-eye calibration is completed, a template library of a gear type circular workpiece and a template library of a material disc type non-circular workpiece are established respectively, template matching pose output is carried out, and the robot gear disc loading precision is improved; outputting a high-precision pose matrix of the workpiece; and the grabbing points are optimally sorted according to the running direction of the robot, the placing points of the gears are sorted according to the preset sequence of the teaching points of the robot, and regular visual correction is executed to maintain the long-term precision of the system. The problems of low efficiency, error proneness, poor flexibility and the like of traditional manual tray loading are solved, high precision, high rhythm and full automation of multi-model gear tray loading operation are achieved, and the intelligent level and stability of a production line are remarkably improved.

The invention discloses an industrial autonomous mobile robot control method, device and equipment and a medium, is applied to a robot control system based on a hierarchical architecture, and relates to the field of automation, and the method comprises the steps: analyzing an input operation text instruction, and generating a navigation task and a grabbing task of a robot based on an obtained structured subtask sequence; calling preset laser equipment according to the navigation task to generate a three-dimensional semantic map of a target end point corresponding to the operation text instruction, and performing path planning and obstacle avoidance through the three-dimensional semantic map to obtain a target path; calling a preset image acquisition device to acquire a material image of a preset material area according to the grabbing task, and processing the material image to generate a material grabbing parameter; and converting the target path and the material grabbing parameter into a robot scheduling instruction corresponding to the robot, and controlling the robot to execute a navigation task and a grabbing task through the robot scheduling instruction. Therefore, autonomous operation of the industrial robot can be realized in combination with semantic understanding.

The utility model provides material filling equipment, which belongs to the technical field of material carrying and comprises a double-layer transmission module, two lifting platforms, a tray feeding module, a bottle body feeding module, an electric manipulator module, a filling feeding module, a robot clamp storage frame, an industrial robot unit, a visual inspection and identification module, a three-dimensional storage module and a basic examination assembly. The dynamic simulation operation can be realized through the industrial robot unit; according to the utility model, not only can practical training simulation of an automatic filling assembly line be carried out on students, but also dynamic operation simulation of the industrial robot unit can be realized through the basic assessment assembly, so that the skill intensity of the students after practical training simulation is improved.

The utility model relates to the technical field of industrial robots, in particular to an industrial intelligent robot with a body, which comprises a machine base and a machine body arranged on the machine base, the machine body is in an inverted Y shape, two ends of the lower portion of the machine body are fixedly arranged with the machine base, and first mechanical arms are symmetrically mounted on the left side and the right side of the upper portion end of the machine body respectively. A first mechanical arm is installed at the top of the upper end of the machine body, a second mechanical arm is installed at the top of the upper end of the machine body, a visual sensor is installed on an end effector of the second mechanical arm, a controller is arranged in the machine base, and the controller is in communication connection with the first mechanical arm, the second mechanical arm and the visual sensor. Assembly line industrial production with front and back double functions can be achieved, and production efficiency is improved.

The invention relates to an upper limb multi-joint training device, and belongs to the technical field of rehabilitation medical instruments. The device comprises a main motion platform, a driven execution terminal and a connecting mechanism, the main motion platform is a multi-degree-of-freedom industrial mechanical arm and is used for driving the upper limbs of a user to complete three-dimensional space compound motion of shoulder and elbow joints; the connecting mechanism is arranged between the tail end of the main motion platform and the driven execution terminal and is used for detachably mounting the driven execution terminal at the tail end of the main motion platform; the driven execution terminal comprises three rotating joints which are sequentially connected in series, and the three rotating joints respectively provide a rotating degree of freedom to correspondingly realize the flexion and extension movement of the wrist joint, the radial ulnar deviation movement and the pronation and supination movement of the forearm. According to the invention, large-range collaborative movement of shoulder and elbow joints and full-degree-of-freedom refined training of wrist joints can be realized at the same time, comprehensiveness of rehabilitation training is improved, and the device is suitable for clinical rehabilitation training of patients with upper limb movement dysfunction.

The invention mainly relates to the technical field of rail robots, in particular to a multi-degree-of-freedom industrial robot collaborative operation device which comprises a sky rail and a robot connected to the sky rail through a moving seat. The device further comprises a driving control assembly, a rotating limiting assembly, an actuating assembly and a sliding limiting assembly, the driving control assembly is in transmission coupling with the walking rotating shaft at the coupling position so as to drive and control the walking rotating shaft to rotate and disengages transmission coupling at the disengagement position, the rotating limiting assembly is detachably clamped with the walking rotating shaft, and the actuating assembly drives the rotating limiting assembly to be clamped with the walking rotating shaft. The driving control assembly moves to the disengagement position to release clamping when moving to the coupling position, the sliding limiting assembly responds to the driving control assembly to move to the disengagement position to extend out of the moving base and abut against the sky rail, and the sliding limiting assembly moves to the coupling position to be contained in the moving base and separated from the sky rail to release sliding limitation. And the position control precision is high.

The application discloses a six-freedom heavy-load assembly industrial robot, which comprises a vehicle body capable of being servo-driven, a mechanical arm assembly arranged on the vehicle body, a clamping jaw assembly connected in the mechanical arm assembly, a stand fixed on the vehicle body and higher than the highest point of the mechanical arm assembly, a horizontal cross rod fixed on the top of the stand, pull ropes distributed on the cross rod, hooks connected to the ends of the pull ropes, and a holding assembly arranged on the front end of the vehicle body; compared with the prior art, the application has achieved remarkable beneficial effects in the safety of heavy-load carrying, the adaptability to different workpieces, the stability of load transfer, the precision of final assembly and the like.

The invention relates to the field of computer production equipment, in particular to intelligent assembly equipment for computer product production, which comprises a bottom plate, a placement box and an industrial robot, the placement box and the industrial robot are arranged on the bottom plate, a clamping piece is arranged at the end part of the industrial robot, and a computer product is clamped through the clamping piece; the clamping piece comprises a positioning plate, a mounting frame is arranged at the bottom end of the positioning plate, clamping plates are arranged at the bottom end of the mounting frame, and the two clamping plates move oppositely to clamp the computer product; a containing plate is arranged at the bottom end of the positioning plate and provided with a plurality of fixing stand columns. Through the matching design of the tension rope, the guide column and the guide hole, the torque deviation can be counteracted through slight shaking of the positioning plate in the clamped piece transferring stage, it is ensured that the guide table is accurately sleeved with the mounting sleeve, the positioning plate is moved to the position over the containing plate, the angle and position deviation is eliminated, and the machining precision is improved. And accurate alignment of the computer product in the assembly process is ensured.

The application discloses a kind of industrial robot dynamics identification method with nonlinear viscous friction, it is related to robot dynamics modeling and control field.The method is considered in robot modeling, nonlinear term of viscous friction, different from traditional coulomb viscous friction model, its content includes robot friction model construction, excitation trajectory model selection, parameter optimization and dynamics parameter solving.In excitation trajectory selection optimization, the trajectory model of five order Fourier series and five polynomials is selected, and the genetic algorithm with penalty function is used to optimize the parameters of excitation trajectory;In solving process, based on interior point method, iteration fitting is carried out, and complete dynamics parameters of robot are obtained.The friction model considered in the application has higher modeling accuracy, and the problem of system jitter at start and end position is overcome, the efficiency and accuracy of robot dynamics parameter identification are improved, and can be used in robot mobile handling, polishing and polishing and heavy load hydraulic industrial scene.